BH8-Series – User’s Manual
www.barrett.com
© 2007 Barrett Technology®, Inc.
Document: D3000, Version: AF.00
Page 63 of 82
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Open target (encoder counts)
F
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Figure 24 - Breakaway Force Curve
To control how much force is applied to an object being grasped, the command TorqueClose and
TorqueOpen must be used. These commands use the Velocity Control Law with the parameters
MCV and MOV. To determine the amount of desired force at the fingertip use Figure 25 to select
proper velocities.
